Define IK solver for manipulator group

larics · Mar 15, 2022 · c8950cc · c8950cc
1 parent 54263ef
commit c8950cc
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/config/kinematics.yaml b/config/kinematics.yaml
@@ -1,4 +1,6 @@
-panda_arm:
+panda_arm: &arm_config
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.05
+  kinematics_solver_timeout: 0.05
+
+manipulator: *arm_config